AgileX HUNTER 2.0 User manual

AgileX Robotics Team
HUNTER 2.0
User Manual 2021.03
V.2.1.0

This chapter contains important safety information, before the robot is powered on for he first time, any
individual or organization must read and understand this information before using the device. If you
have any questions about use, please contact us at [email protected]. Please follow and implement all
assembly instructions and guidelines in the chapters of this manual, which is very important. Particular
attention should be paid to the text related to the warning signs.

Make a risk assessment of the complete robot system.
Connect the additional safety equipment of other machinery defined by the risk assessment together.
Confirm that the design and installation of the entire robot system's peripheral equipment, including software and hardware systems,
are correct.
This robot does not have a complete autonomous mobile robot, including but not limited to automatic anti-collision, anti-falling,
biological approach warning and other related safety functions. Related functions require integrators and end customers to follow
relevant regulations and feasible laws and regulations for safety assessment , To ensure that the developed robot does not have any
major hazards and safety hazards in actual applications.
Collect all the documents in the technical file: including risk assessment and this manual.
Safety Information
1.Effectiveness and responsibility
5.Maintenance
4.Operation
2.Environmental Considerations 3.Pre-work Checklist
The information in this manual does not include the design, installation and operation of a complete robot application, nor does it include all
peripheral equipment that may affect the safety of the complete system. The design and use of the complete system need to comply with the
safety requirements established in the standards and regulations of the country where the robot is installed. HUNTER 2.0 integrators and end
customers have the responsibility to ensure compliance with the applicable laws and regulations of relevant countries, and to ensure that there
are no major dangers in the complete robot application. This includes but is not limited to the following:
For the first-time use,please read this manual carefully to
understand the basic operating content and operating specifica-
tion.
No passengers.
For remote control operation, select a relatively open area to use
HUNTER 2.0, because HUNTER 2.0 is not equipped with any
automatic obstacle avoidance sensor. Please keep a safe distance
of more than 2 meters when operating HUNTER 2.0.
Use HUNTER 2.0 always between -10℃~45℃ ambient temperature.
If HUNTER 2.0 is not configured with separate custom IP protection,
its water and dust protection will be IP22 ONLY.
Make sure each device has sufficient power.
Make sure HUNTER 2.0 does not have any obvious
defects.
Check if the remote controller battery has sufficient
power.
When using, make sure the emergency stop switch
has been released.
！
When HUNTER 2.0 has had a defect, please contact the
relevant technical to deal with it, do not handle the
defect by yourself.
Always use HUNTER 2.0 in the environment with the
protection level requires for the equipment.
It is forbidden to push the chassis in the parking status,
and the parking can be manually released in an
emergency status.
When charging, make sure the temperature is above 0℃.
In remote control operation, make sure the area around is
relatively spacious.
Make sure to operate the Hunter 2.0 within the visual range.
The maximum load of HUNTER 2.0 is 150KG. When in use, ensure
that the payload does not exceed 150KG.
When installing an external extension on HUNTER 2.0, confirm
the position of the center of mass of the extension and make
sure it is at the center of rotation.
Please charge in time when the device is low battery alarm.
When HUNTER 2.0 has a defect, please immediately stop using it
to avoid secondary damage.
Regularly check the pressure of the tire, and keep the tire pressure is maintained at 0.8bar.
If the tire is severely worn or burst, please replace it in time.
If the battery plan not to use for a long time, it need to be charged periodically in every 2 to 3 months.

1 HUNTER 2.0 Introduction
1.1 Component list
1.2 Tech specifications
1.3 Requirement for development
2 The Basics
2.1 Status indication
2.2 Instructions on electrical interfaces
2.2.1 Top electrical interface
2.2.2 Rear electrical interface
2.3 Instructions on remote control
2.4 Instructions on control demands
and movements
3 Getting Started
3.1 Use and operation
3.2 Charging and battery replacement
3.3 Communication using CAN
3.3.1 CAN message protocol
3.3.2 CAN cable connection
3.3.3 Implementation of CAN
command control control
3.4 Firmware upgrades
3.5 HUNTER2.0 ROS Package
4 Attention
4.1 Battery
4.2 Operational environment
4.3 Electrical/extension cords
4.4 Other notes
5 Q&A
6 Product Dimensions
6.1 Illustration diagram of product
external dimensions
6.2 Illustration diagram of top
extended support dimensions
1
1
1
1
2
3
3
3
4
5
5
5
5
6
6
6
13
13
13
14
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CONTENTS

1 HUNTER 2.0 Introduction
HUNTER 2.0 is designed as a programmable UGV( UNMANNED GROUND CHASSIS) upon Ackermann model, of which the
chassis is based on Ackermann steering. Therefore, it has similar characteristics to cars but has more significant advantages on
Portland cement and asphalt roads over them. Compared to the four-wheel differential chassis, HUNTER 2.0 chassis has a
higher load carrying capacity and can reach higher movement speed with less wear of structure and tires for long-term
operation. Although HUNTER 2.0 is not designed as suitable for all kinds of terrains, it is equipped with a rocker arm
suspension which can pass common obstacles such as speed bumps, etc. Additional components such as stereo camera,
laser radar, GPS, IMU and robotic manipulator can be optionally installed on HUNTER 2.0 for advanced navigation and
computer vision applications. HUNTER 2.0 is frequently used for autonomous driving education and research, indoor and
outdoor security patrolling, environment sensing, general logistics and transportation.
FS RC transmitter is provided (optional) in the factory setting pf HUNTER 2.0, which allows users to control the chassis of robot
to move and turn; CAN and RS232 interfaces on HUNTER 2.0 can be used for user’s customization.
1.1 Component list
1.2 Tech specifications
1.3Requirement for development
Mechanical specifications
Motion
Control
HUNTER 2.0 Robot body
Battery charger(AC 220V)
Aviation plug(male, 4-pin)
Remote control transmitter(optional)
USB to CAN communication module
USB to R232 cable
x1
x1
x2
x1
x1
x1
L × W × H (mm)
Wheelbase (mm)
Front/rear wheel base (mm)
Weight of chassis body (kg)
Battery
Power drive motor
Steering drive motor
Reduction gearbox
Drive system form
Steering
Maximum steering angle
Steering accuracy
980 × 745 × 380
650
605
65/70
Lithium battery 24V 30Ah/60Ah
DC brushless 2 ×400W
DC brushless 200W
1:40
Power off electromagnetic band type brake
Front wheel Ackermann
33°
0.5°
No- load MAX speed (m/s)
Minimum turning radius (mm)
Maximum climbing capacity
Minimum ground clearance (mm)
1.5
1.6
10°
105 (Angle 30°)
RC transmitter
System interface
2.4G/extreme distance 1km
CAN
Control mode Remote control
Control command mode
Name Quantity
Parameter Types Items Values
1

2 The Basics
The section provides a brief introduction to the HUNTER 2.0 mobile robot platform, as shown in Figure 2.1 and 2.2
Designed as a complete intelligent module, HUNTER 2.0 combines inflatable rubber wheels with independent suspension as
its power module, which, along with powerful DC brushless servo motor, enables the chassis of HUNTER 2.0 robot to flexibly
move on different ground surfaces with high passing ability and ground adaptability. An emergency stop switch is mounted at
the rear end of chassis body, which can shut down power of the robot immediately when the robot behaves abnormally.
Water-proof connectors for DC power and communication interfaces are provided both on top and at the rear of the robot,
which not only allow flexible connection between the robot and external components but also ensures necessary protection
to the internal of the robot even under severe operating conditions.
Figure 2.1 Front View
Figure 2.2 Rear View
4
5
1
2
3
1
2
3
1.Standard Profile Support
2.Top Cabin Panel
3.Top Extend Interface
4.Emergency Stop Switch
5.Ackermann Front Wheel Steering
1.Emergency Stop Switch
2.Battery Change Panel
3.Rear Panel
2

Users can identify the status of chassis body through the voltmeter, the beeper and lights mounted on HUNTER 2.0. For details, please
refer to Table 2.1.
HUNTER 2.0 provides two 4-pin aviation connectors and one DB9 (RS232) connector. (The current version can be used for upgrade of
firmware but do not support for command).The position of the top aviation connector and DB9 interface is shown in Figure 2.3.
HUNTER 2.0 has each aviation extension interface respectively on top and at rear end which is configured with a set of power supply and
a set of CAN communication interface. These interfaces can be used to supply power to extended devices and establish communication.
The specific definitions of pins are shown in Figure 2.4.
It should be noted that, the extended power supply here is internally controlled, which means the power supply will be actively cut off
once the battery voltage drops below the pre-specified threshold voltage. Therefore, users need to notice that HUNTER 2.0 platform will
send a low voltage alarm before the threshold voltage is reached and also pay attention to battery recharging during use.
2.1 Status indication
2.2 Instructions on electrical interfaces
Voltage
Replace battery
Robot powered on
The current battery voltage can be read from the voltmeter on the rear electrical panel.
Rear lights are switched on.
When the battery voltage is lower than 24.5V (if the BMS is connected, the SOC is judged to be lower
than 15%) , the chassis body will give a beep-beep-beep sound as a warning. When the battery
voltage is detected as lower than 24V(if the BMS is connected, the SOC is judged to be lower than
10%), HUNTER 2.0 will actively cut off the power supply to external extensions and drive to prevent
the battery from being damaged. In this case, the chassis will not enable movement control and
accept external command control.
Status Description
Table 2.1 Descriptions of Chassis Status
Figure 2.3 Schematic Diagram of HUNTER 2.0 Electrical Interface on Top
2.2.1 Top electrical interface
DB9 interface
External interface
Figure 2.3 Description of Top Aviation Interface Pins
2
1
4
3
1
2
3
4
Power
CAN
Power
CAN
VCC
GND
CAN_H
CAN_L
Power positive, voltage range 21-26.8V, singly maximum
current 10 A, total current is less than 15A
Power negative
CAN bus high
CAN bus low
Pin No. Pin Type Function and
Definition Remarks
3

The extension interface at rear end is shown in Figure 2.6, where Q1 is the power display; Q2 is the switch of manual parking release; Q3 is
the power switch; Q4 is the buzzer; Q5 is CAN and 24V power extension interface; Q6 is charging interface.
Specific definitions for pins of Q5 are shown in Figure 2.7. The rear panel provides the same CAN communication interface and 24V power
interface with the top one (two of them are internally inter-connected). The pin definitions are given in Figure 2.7.
2.2.2 Rear electrical interface
Figure 2.6 Rear View
Figure 2.5 Description of Top DB9 interface
Figure 2.7 Description of Rear Aviation Interface Pins
Pin No.
2
3
5
Definition
RS232-RX
RS232-TX
GND
2
1
4
3
1
6789
2345
1
2
3
4
Power
CAN
Power
CAN
VCC
GND
CAN_H
CAN_L
Power positive, voltage range 21-26.8V, single maximum
current 10 A, total current is less than 15A
Power negative
CAN bus high
CAN bus low
Pin No. Pin Type Function and
Definition Remarks
4
Q1 Q2 Q3 Q4
Q5 Q6
Top DB9 expansion interface pin definition.

FS RC transmitter is provided (optional) for HUNTER 2.0. In this product, we use the left-hand-throttle design. Refer to Figure 2.8 for its
definition and function.
This section introduces the basic operation and development of the HUNTER 2.0 platform using the CAN bus
interface.
The function of the button is defined as: SWC and SWD are
temporarily disabled. Among which SWA is the parking switch
lever, turn to the top to release the parking mode, turn to
bottom is the parking mode. (The remote control can be
performed normally after the parking mode is released.) SWB
for control mode selection, top position for command control
and the middle position for remote control mode; S1 is the
throttle button, which controls the forward and backward of
HUNTER 2.0; S2 controls the steering of the front wheels, and
POWER is the power button, press and hold it to turn on.
As shown in Figure 2.9, the chassis body of HUNTER 2.0 is in parallel with X
axis of the established reference coordinate system. In the remote control
mode, push the remote control stick S1 forward to move in the positive X
direction, push S1 backward to move in the negative X direction. When S1
is pushed to the maximum value, the movement speed in the positive X
direction is the maximum, When pushed S1 to the minimum, the
movement speed in the negative direction of the X direction is the
maximum; the remote control stick S2 controls the steering of the front
wheels of the car body, push S2 to the left, and the chassis turns to the left,
pushing it to the maximum, and the steering angle is the largest, S2 Push
to the right, the car will turn to the right, and push it to the maximum, at
this time the right steering angle is the largest. In the control command
mode, the positive value of the linear velocity means movement in the
positive direction of the X axis, and the negative value of the linear velocity
means movement in the negative direction of the X axis; the steering angle
is the steering angle of the inner wheel.
A reference coordinate system can be defined and fixed on the chassis body as shown in Figure 2.9 in accordance with ISO 8855.
2.4 Instructions on control demands and movements
2.3 Remote control instructions
Figure 2.8 Schematic Diagram of Buttons on FS RC transmitter
SWC
SWD
S2
SWB
SWA
S1
POWER
POWER
3 Getting Started
3.1 Use and operation
The basic operating procedure of startup is shown as follows:
Check
Shutdown Emergency stop
Startup
Check the condition of HUNTER 2.0. Check whether there are
significant anomalies; if so, please contact the after-sale service
personal for support;
Check the state of emergency-stop switches. Make sure both
emergency stop buttons are released;
For first-time use, check whether Q3 (drive power supply switch)
on the rear panel has been pressed down; if so, please release it,
and then the drive will be powered off.
Press the button Q3 to cut off the power supply. Press down emergency push button on the top of HUNTER 2.0
chassis body.
Press Q3 button, and normally, the voltmeter will display correct
battery voltage and front and rear lights will be both switched on;
Check the battery voltage, the normally voltage range is 24~26.8V,
if there is continuous “beep-beep-beep...” sound from beeper,it
means the battery voltage is low, please charge the battery.
5
Figure 2.9 Schematic Diagram of Reference Coordinate System for Chassis Body
Z
Y
X

HUNTER 2.0 provides CAN and RS232 (not open to current version) interfaces for user customization. Users can select one of these interfaces to
conduct command control over the chassis body.
HUNTER 2.0 adopts CAN2.0B communication standard which has a communication baud rate of 500K and Motorola message format. Though
external CAN bus interface, the moving linear speed and the rotational angle of chassis can be controlled; HUNTER 2.0 will feedback on the
current movement status information and its chassis status information in real time.
The system status feedback command includes the feedback information about current status of chassis body, control mode status, battery
voltage and system failure. The description is given in Table 3.1.
3.3.1 CAN message protocol
3.2 Charging and battery replacement
3.3 Battery replacement
Basic operating procedure of remote control
Parking
After the chassis of HUNTER 2.0 mobile robot is started correctly, turn on the RC transmitter and push the SWB to the remote control mode,
then, HUNTER 2.0 platform movement can be controlled by the RC transmitter.
The parking brake adopts a power off electromagnetic band type brake to realize the parking function, so when the chassis is running, the
parking function must be turned off before moving;
In the remote control mode, SWA is the parking function switch. You can control movement after turning the stick to the top to turn off the
parking function. Turn the stick to the bottom to turn on the parking mode, if the chassis speed is not 0 at this time, it will automatically
decelerate to 0 and turn on the parking function.
In the command mode, the parking mode is the default when the power is turned on. At this time, there is no response to the speed
command, and the parking release command needs to be sent before the speed command can be sent for control. If you need to park
after the motion control is completed, just send a parking command.
When the emergency stop is triggered, the parking will automatically start. At this time, released the emergency stop, no matter where the
remote control SWA is located, it needs to be unlocked again for normal movement. If the power fails to be re-powered after a power
failure (such as low battery voltage), you can use the Q2 knob switch to manually unlock the parking to facilitate moving the chassis or
trailer. It should be noted that the manual (tail knob switch Q2) unlocking the parking has the highest priority, which will invalidate the
parking in the program, so it is limited to special circumstances. Please close it in time after use.
Ramp parking, when HUNTER 2.0 is on the slope, if the speed is 0, HUNTER 2.0 will check the current automatically. When it reaches a
certain value and continues for a period of time, HUNTER 2.0 will turn on the ramp parking function automatically. After receiving the
motion command again, the ramp parking will relieve automatically and start to running.
HUNTER 2.0 is equipped with a 10A charger by default to meet customers’ recharging demand.
The detailed operating procedure of charging is shown as follows:
Battery replacement
Make sure the electricity of HUNTER 2.0 chassis is powered off. Before
charging, please make sure the power switch in the rear control console is
turned off;
Insert the charger plug into Q6 charging interface on the rear control panel;
Connect the charger to power supply and turn on the switch in the charger.
Then, the robot enters the charging state.
Turn off the power switch of the HUNTER 2.0 chassis.
Press the button lock on the battery replacement panel and
open the battery panel.
Unplug the currently connected battery interface, respectively
(XT60 power connector) (BMS connector) lock
Take out the battery, pay attention to this process, the battery is
forbidden to hit and collide.
Install the battery that will be used, and then plug the connector
back.
Turn off the power to replace panel, press the lock.
Note: For now, the battery needs about 4 hours to be fully
recharged from 21V, and the voltage of fully-recharged
battery is about 26.8V.
6

7
Status error of drive (0: No failure 1: Failure)
Upper communication connection status (0: No failure 1: Failure)
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Battery under-voltage failure (0: No failure 1: Failure)
Reserved, default 0
Remote control loss protection (0: No failure 1: Failure)
Steering motor drive communication failure (0: No failure 1: Failure)
Rear right motor drive communication failure (0: No failure 1: Failure)
Rear left motor drive communication failure (0: No failure 1: Failure)
Reserved, default 0
Front wheel steering encoder disconnection failure (0: No failure 1: Failure)
byte [4]
byte [5]
Byte Bit Meaning
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
Receiving node
Decision-making control unit
0×08
Function
Current status of
chassis body
Mode control
ID
0x211
Data type
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
100ms None
Description
0×00 System in normal condition
0×01 Emergency stop mode (not enabled)
0×02 System exception
byte [2]
byte [3]
byte [4]
byte [5]
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Failure information higher 8 bits
Failure information lower 8 bits
unsigned int16
unsigned int16
byte [6]
byte [7]
Parking(brake) state
Parity bit (checksum)
unsigned int8
unsigned int8
Actual voltage × 10 (with an accuracy of 0.1V)
See notes for details
[Description of Failure Information]
0×00 Standby mode
0×01 CAN command control mode
0×02 Remote control mode
0×00 Brake unlocked state 0×01 Brake locked state
00-255 counting loops, which will be
added once every command sent
Table 3.1 Feedback Frame of HUNTER 2.0 Chassis System Status
System Status Feedback FrameCommand Name
Description of Failure Information
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]

The command of movement control feedback frame includes the feedback of current linear speed and turning angle of
chassis body. For the detailed content of protocol, please refer to Table 3.2.
The control frame includes linear speed control command, front wheel internal steering angle control command. For its
detailed content of protocol, please refer to Table 3.3.
8
Table 3.2 Movement Control Feedback Frame
Table 3.3 Control Frame of movement Control Command
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Moving speed higher 8 bits
Moving speed lower 8 bits
Reserved
Reserved
Reserved
Reserved
Corner higher 8 bits
Corner lower 8 bits
ID
0x221
Data type
signed int16
-
-
-
-
signed int16
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual speed × 1000 (with an accuracy of 0.001rad)
0x00
0x00
0x00
0x00
Actual internal steering angle ×1000 (unit 0.001rad)
Movement Control Feedback CommandCommand Name
Cycle (ms) Receive-timeout (ms)
20ms 500ms
Description
Chassis moving speed, unit mm/s
(effective value+ -1500)
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×08
Function
Linear speed higher 8 bits
Linear speed lower 8 bits
ID
0x111
Data type
signed int16
byte [1]
byte [2] Reserved
Reserved
Reserved
Reserved
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Corner higher 8 bits
Corner lower 8 bits
—
—
—
—
signed int16
0x00
0x00
0x00
0x00
Internal steering angle unit 0.001rad
(effective value+ -576)
Control CommandCommand Name

The mode setting frame is use to set the control interface of HUNTER 2.0. The detailed content of the protocol is as follows.
9
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Control mode
ID
0x421
Date type
unsigned int8
Description
0×00 Standby mode
0×01 CAN command mode
Power-on enters standby mode default
Command Name Control Mode Setting Command
Cycle (ms)
None
Receive-timeout (ms)
None
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Errors clearing command
ID
0x441
Date type
unsigned int8
Description
0×00 Clear all not serious failure
0×01 Clear steering motor drive communication failure
0×02 Clear rear right motor drive communication failure
0×03 Clear rear left motor drive communication failure
0×05 Clear battery under-voltage failure
0×06 Clear steering encoder communication failure
0×07 Clear remote control signal loss failure
Command Name Status Setting Command
Cycle (ms)
None
Receive-timeout (ms)
None
[Note] Example data: The following data is only used for testing
1.The chassis moves forward at 0.15m/s ( It need to unlock parking by command before running)
2.The chassis steering 0.2rad
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xC8
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00
Description of control mode: In case the HUNTER 2.0 is powered on and the RC transmitter is not connected, the control mode is defaulted
to standby mode. At this time, the chassis only receives control mode command, and does not respond other commands. To use CAN for
control need to switch CAN command mode at first. If the RC transmitter is turned on, the RC transmitter has the highest authority, can
shield the control of command and switch the control mode.
Status setting frame is use to clear the system errors. The detailed content of the protocol is as follows.

10
The chassis status information will be feedback, and what’s more, the information about motor current, encoder and temperature are also
included. The following feedback frame contains the information about motor current, encoder and motor temperature.
The motor numbers of the four motors in the chassis correspond to: steering No. 1, right rear wheel No. 2, and left rear wheel No. 3
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Drive voltage higher 8 bits
Drive voltage lower 8 bits
Drive temperature higher 8 bits
Drive temperature lower 8 bits
Motor temperature
Drive status
Reserved
Reserved
ID
0x261~0x263
Data type
unsigned int16
signed int16
signed int8
unsigned int8
—
—
Unit 1°C
See the details in [Drive control status]
0x00
0x00
Motor Drive Low Speed Information Feedback Frame
Command Name
Description
Current voltage of drive unit 0.1V
Unit 1°C
Receive-timeout (ms)
None
Cycle (ms)
100ms
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Chassis node
0×08
Function
Motor speed higher 8 bits
Motor speed lower 8 bits
Motor current higher 8 bits
Motor current lower 8 bits
Position highest bits
Position second-highest bits
Position second-lowest bits
Position lowest bits
ID
0x251~0x253
Data type
signed int16
signed int16
signed int32
Motor Drive High Speed Information Feedback Frame
Command Name
Description
Current speed of the motor Unit RPM
Motor current Unit 0.1A
Current position of the motor Unit: pulse
Receive-timeout (ms)
None
Cycle (ms)
20ms
Motor speed current position information feedback

11
Parking control command is use to control the motor brake of the driving wheel. The detailed content of the protocol is as follows.
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
Whether the power supply voltage is too low (0:Normal 1:Too low)
Whether the motor is overheated (0:Normal 1:Overheated)
Whether the drive is over current (0:Normal 1:Over current)
Whether the drive is overheated (0:Normal 1:Overheated)
Sensor status (0:Normal 1:Abnormal)
Drive error status (0:Normal 1:Error)
Drive enable status (0:Normal 1:Disability)
Reserved
byte [5]
Byte Bit Description
Drive Status
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Parking command
ID
0×131
Date type
unsigned int8
Description
0×00 Turn off parking (unlock the brake)
0×01 Turning on parking (lock the brake)
The brake need to be unlocked to
control the speed of the chassis
Command Name Parking Control Command
Cycle (ms)
None
Receive-timeout (ms)
None
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Setting current position to zero
ID
0x431
Date type
unsigned int8
Description
Setting current position to zero
Fixed value: 0×AA
Command Name Steering Zero Setting Command
Cycle (ms)
None
Receive-timeout (ms)
None
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Reply the steering zero setting
ID
0x43A
Date type
unsigned int8
Description
0×EE Setting current position to zero successfully
Command Name Steering Zero Setting Feedback Command
Cycle (ms)
None
Receive-timeout (ms)
None

12
Sending node
Steer-by-wire
chassis
Date length
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Battery SOC
Battery SOH
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Battery current higher 8 bits
Battery current lower 8 bits
Battery temperature higher 8 bits
Battery temperature lower 8 bits
ID
0x361
Date type
unsigned int8
unsigned int8
unsigned int16
signed int16
signed int16
Description
Range 0~100
Range 0~100
Unit: 0.01V
Unit: 0.1A
Unit: 0.1°C
Command Name BMS Data Feedback
Sending node
Steer-by-wire chassis
Date length
Byte
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Left wheel mileometer highest bit
Left wheel mileometer second-highest bit
Left wheel mileometer second-lowest bit
Left wheel mileometer lowest bit
Right wheel mileometer highest bit
Right wheel mileometer second-highest bit
Right wheel mileometer second-lowest bit
Right wheel mileometer lowest bit
Command Name Mileage Feedback
Cycle (ms)
500ms
Receive-timeout (ms)
None
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
Receiving node
Decision-making control unit
0×04
Function
Alarm Status 1
Alarm Status 2
Warning Status 3
Warning Status 4
ID
0x362
Data type
unsigned int8
unsigned int8
unsigned int8
unsigned int8
ID
0x311
Data type
Description
BIT1: Overvoltage BIT2: Undervoltage BIT3: High temperature
BIT4: Low temperature BIT7: Discharge overcurrent
BIT0: Charge overcurrent
BIT1: Overvoltage BIT2: Undervoltage BIT3: High temperature
BIT4: Low temperature BIT7: Discharge overcurrent
BIT0: Charge overcurrent
Command Name BMS Data Feedback
Cycle (ms)
500ms
Receive-timeout (ms)
None
Cycle (ms)
20ms
Receive-timeout (ms)
None
signed int32
Chassis left wheel mileometer
feedback, unit:mm
Chassis right wheel mileometer
feedback, unit:mm
Description
signed int32

Correctly start the chassis of HUNTER 2.0 mobile robot, and turn on RC
transmitter. Then, switch to the command control mode, i.e. toggling S1
mode of RC transmitter to the top. At this point, HUNTER 2.0 chassis will
accept the command from CAN interface, and the host can also parse the
current state of chassis with the real-time data fed back from CAN bus. For
the detailed content of protocol, please refer to CAN communication
protocol.
In order to facilitate users to upgrade the firmware version used by HUNTER 2.0 and bring customers a more complete experience, HUNTER 2.0
provides a firmware upgrade hardware interface and corresponding client software. A screenshot of this application is shown in Figure 3.3.
2 aviation male plugs are supplied along with HUNTER 2.0 as shown in Figure 3.2. Users need
to lead wires out by welding on their own. For wire definitions, please refer to Table 3.2.
3.3.2 CAN cable connection
3.3.3 Implementation of CAN command control
3.4 Firmware upgrades
Figure 3.2 Schematic Diagram of Aviation Male Plug
Figure 3.3 Client Interface of Firmware Upgrade
RED :VCC(positive pole)
BLACK :GND(negative pole)
BLUE :CAN_L
YELLOW :CAN_H
Connect the serial cable to the computer;
Open the client software;
Select the port number;
Power on HUNTER 2.0 chassis, and immediately click to start
connection (HUNTER 2.0 chassis will wait for 3s before power-on; if
the waiting time is more than 3s, it will enter the application); if the
connection succeeds, "connected successfully" will be prompted
in the text box;
Load Bin file;
Click the Upgrade button, and wait for the prompt of upgrade
completion;
Disconnect the serial cable, power off the chassis, and turn the
power off and on again.
Before connection, ensure the robot chassis is powered off;
Connect the serial cable onto the serial port at rear end of
HUNTER 2.0 chassis;
Upgrade procedure
Upgrade preparation
Serial cable × 1
USB-to-serial port × 1
HUNTER 2.0 chassis × 1
Computer (Windows operating system) × 1
13

14
3.5 HUNTER 2.0 ROS Package
CANlight can communication module ×1
Thinkpad E470 notebook ×1
AGILEX HUNTER 2.0 mobile robot chassis ×1
AGILEX HUNTER 2.0 remote control FS-i6s ×1
AGILEX HUNTER 2.0 top aviation power socket ×1
Enable gs_usb kernel module
$ sudo modprobe gs_usb
Setting 500k Baud rate and enable can-to-usb adaptor
$ sudo ip link set can0 up type can bitrate 500000
If no error occurred in the previous steps, you should be able
to use the command to view the can device immediately
$ ifconfifig -a
Install and use can-utils to test hardware
$ sudo apt install can-utils
If the can-to-usb has been connected to the HUNTER 2.0
robot this time, and the car has been turned on, use the
following commands to monitor the data from the HUNTER
2.0 chassis
$ candump can0
Please refer to:
[1]https://github.com/agilexrobotics/agx_sdk
[2]https://wiki.rdu.im/_pages/Notes/Embedded-System/Li-
nux/can-bus-in-linux.html
For installation details, please refer to
http://wiki.ros.org/kinetic/Installation/Ubuntu
Setting CAN-TO-USB adaptor
Ubuntu 16.04 LTS (This is a test version, tasted on
Ubuntu 18.04 LTS)
ROS Kinetic (Subsequent versions are also tested)
Git
Download ros package
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
$ sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
$ sudo apt install ros-$ROS_DISTRO-ros-controllers
$ sudo apt install ros-$ROS_DISTRO-webots-ros
$ sudo apt install libasio-dev
Clone compile hunter_2_ros code
$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobotics/hunter_2_ros.git
$ git clone https://github.com/agilexrobotics/agx_sdk.git
$ cd ~/catkin_ws
$ catkin_make
Please refer to: https://github.com/agilexrobotics/hunter_2_ros
Start the based node
$ roslaunch bunker_bringup hunter_2_robot_base.launch
Start the keyboard remote operation node
$ roslaunch bunker_bringup hunter_2_teleop_keyboard.launch
Lead out the CAN wire of the HUNTER 2.0 top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN wire to the
CAN_TO_USB adapter respectively;
Turn on the knob switch on the HUNTER 2.0 mobile robot chassis, and check whether the emergency stop switches on both sides are
released；
Connect the CAN_TO_USB to the usb point of the notebook. The connection diagram is shown in Figure 3.4.
Development Preparation
ROS installation and environment setting AGILEX HUNTER 2.0 ROS PACKAGE download and compile
Start the ROS node
Hardware connection and preparation
Test CANABLE hardware and CAN communication
Use example environment descriptionHardware preparation
1
2
3
4
Figure 3.4 CAN connection diagram
ROS provide some standard operating system services, such as hardware abstraction, low-level device control, implementation of common
function, interprocess message and data packet management. ROS is based on a graph architecture, so that process of different nodes can
receive, and aggregate various information (such as sensing, control, status, planning, etc.) Currently ROS mainly support UBUNTU.
External power supply:
1.Red: VCC (Battery positive)
2.Black: GND (Battery negative)
CAN:
3.Yellow: CAN_H
4.Blue: CAN_L

15
5 Q&A
Q: HUNTER 2.0 is started up correctly, but why cannot the RC transmitter control the chassis body to move?
A: First, check whether the drive power supply is in normal condition, whether the drive power switch is pressed down and whether E-stop
switches are released; then, check whether the control mode selected with the top left mode selection switch on the RC transmitter is correct,
check whether the parking switch is turn off.
Q: HUNTER 2.0 remote control is in normal condition, and the information about chassis status and movement can be received correctly,
but when the control frame protocol is issued, why cannot the chassis body control mode be switched and the chassis respond to the
control frame protocol?
A: Normally, if HUNTER 2.0 can be controlled by a RC transmitter, it means the chassis movement is under proper control; if the chassis feedback
frame can be accepted, it means CAN extension link is in normal condition. Please check the CAN control frame sent to see whether the data
check is correct and whether the control mode is in command control mode. You can check the status of error flag from the error bit in the
chassis status feedback frame.
Q: HUNTER 2.0 gives a "beep-beep-beep..." sound in operation, how to deal with this problem?
A: If HUNTER 2.0 gives this "beep-beep-beep" sound continuously, it means the battery is in the alarm voltage state. Please charge the battery
in time.
The battery supplied with HUNTER 2.0 is not fully charged in
the factory setting, but its specific power capacity can be
displayed on the voltmeter at real end of HUNTER 2.0 chassis or
read via CAN bus communication interface. The battery
recharging can be stopped when the green LED on the charger
turns green. Note that if you keep the charger connected after
the green LED gets on, the charger will continue to charge the
battery with about 0.1A current for about 30 minutes more to
get the battery fully charged;
Please do not charge the battery after its power has been
depleted, and please charge the battery in time when low
battery level alarm is on;
Static storage conditions: The best temperature for battery
storage is -10℃ to 45℃; in case of storage for no use, the
battery must be recharged and discharged once about every 2
months, and then stored in full voltage state. Please do not put
the battery in fire or heat up the battery, and please do not
store the battery in high-temperature environment;
Charging: The battery must be charged with a dedicated
lithium battery charger; lithium-ion batteries cannot be
charged below 0°C (32°F) and modifying or replacing the
original batteries are strictly prohibited.
HUNTER 2.0 only supports the replacement and use of the
battery provided by us, and the battery can be charged
separately.
For the extended power supply on top, the current should not exceed 10A and the total power should not exceed 240W;
For the extended power supply of top and tail, each ports must not be greater than 24V10A, the total output current must not be
greater than 15A, total power should not exceed 360W.
When the system detects that the battery voltage is lower than the safe voltage class, external power supply extensions will be
actively switched to. Therefore, users are suggested to notice if external extensions involve the storage of important data and have
no power-off protection.
The operating temperature of HUNTER 2.0 is -10℃ to 45℃;
please do not use it below -10℃ and above 45℃ ;
The requirements for relative humidity in the use
environment of HUNTER 2.0 are: maximum 80%, minimum
30%;
Please do not use it in the environment with corrosive and
flammable gases or closed to combustible substances;
Do not place it near heaters or heating elements such as large
coiled resistors, etc.;
Except for specially customized version (IP protection class
customized), HUNTER 2.0 is not water-proof, thus please do
not use it in rainy, snowy or water-accumulated environment;
The elevation of recommended use environment should not
exceed 1,000m;
The temperature difference between day and night of
recommended use environment should not exceed 25℃;
When handling and setting up, please do not fall off or place
the chassis upside down;
For non-professionals, please do not disassemble the chassis
without permission.
This section includes some precautions that should be paid attention to for HUNTER 2.0 use and development.
4 Attention
4.1Battery 4.2 Operational environment
4.3 Electrical/extension cords
4.4 Other notes

6 Product Dimensions
6.1 Illustration diagram of product external dimensions
16
980
745
760
105
650
375
140
330(13in)
270
605